CN105204462B - The matching process of AGV quantity and task in AGV Production Scheduling Systems - Google Patents
The matching process of AGV quantity and task in AGV Production Scheduling Systems Download PDFInfo
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Abstract
The present invention is the matching process of AGV quantity and task in a kind of AGV Production Scheduling Systems.There is multiple workbench, multiple AGV and a plurality of running track in the interactive AGV production systems of multi-track, the various information in production process interact in real time.Each AGV is among running according to the task and running route that instant system state selection is current.The complexity of system and the instantaneity of AGV decision-makings make it difficult in advance reasonably be matched AGV quantity and task.Can simulation system running status in advance using this method, the AGV quantity needed can be predefined under certain task, the maximum functional task undertaken can also be determined under certain AGV quantity, simultaneously can also be under certain AGV quantity and task, the working time needed is predefined, so as to which task and AGV quantity are carried out into Proper Match.
Description
Technical field
The present invention relates to multi-Agent method is used to multi-track, the simulation of interactive AGV Production Scheduling Systems, to cause
The method that task is mutually matched with AGV quantity.Belong to AGV production scheduling technical fields.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) is magnetically or optically waited automatically equipped with electricity
The haulage vehicle of guide device, can advance, have along defined path of navigation safeguard protection and various transfer functions.AGV
Driver is not needed in commercial Application, using chargeable battery as its power resources, is controlled through computer system
Its course and behavior.AGV course is generally set up using electromagnetic path.Electromagnetic path is attached on floor, and AGV is then
Information caused by electromagnetic path is followed to move and act.AGV system has ring compared with other logistics conveyer systems
The strong adaptability in border, layout it is flexible it is high, maintain easily, automaticity, the advantages that being easy to safeguard, to improving production efficiency, drop
Low production cost is so as to accelerating enterprise development important in inhibiting.
The scope of activities and work capacity of separate unit AGV single system be it is limited, with factory automation scale increasingly
Expand, the requirement for improving automated system production efficiency can not be met.AGV system is mostly made up of more AGV at present
Multi-track, interactive system.This kind of system is generally waited by a loading stage, a relieving platform, multiple workbench and multiple AGV
Area is formed, and has fixed electromagnetic path to be connected between above-mentioned four classes device.After task is assigned, it will be treated respectively by more AGV
The part of processing is transported to corresponding workbench by loading stage and is processed.After machining, then the part that will be processed by AGV
Relieving platform is transported to by workbench, to carry out the encapsulation process of product.Due to more AGV within same time and space same luck
OK, the dynamical system of a discrete event is formd, and then result in a series of management problemses.AGV system is ground at present
Study carefully and be concentrated mainly on three path planning, task scheduling and clash handle aspects.These are studied both for system in a certain respect
The problem of deploy, yet with the complexity, discreteness and instantaneity of system, the general characteristic rule of system is still difficult to obtain.
Therefore, existing research not yet solves AGV quantity and the matching problem of task.I.e. for particular system, in certain work
Assigned as task rear, it is necessary to which how many AGV can be timely completed task；Or in the case where certain AVG quantity and working time require,
Stages of labor how many task be at best able to.The presence of above mentioned problem brings very big difficulty to the formulation of enterprise's production schedule.Meanwhile
Because AGV is expensive, purchases unnecessary AGV and also add substantial amounts of production cost to enterprise.
The content of the invention
The purpose of the present invention is that multi-track, interactive AGV Production Scheduling Systems are imitated using multi-Agent Simulation theory
True simulation, pass through task, AGV under specific systematic parameter Imitating system running state, acquisition particular system state
Correlation between quantity and total working room etc. between variable, reasonable is carried out so as to realize by task and AGV quantity
The purpose matched somebody with somebody.
The present invention is to take following technical scheme to realize:
Multi-track based on multi-Agent Simulation, AGV quantity matches with task in interactive AGV Production Scheduling Systems
Method, its step is as follows：
(1) facility layout of AGV Production Scheduling Systems is measured, obtains the specifying information of each device of internal system.
(2) it is theoretical using multi-Agent Simulation, the data obtained are measured according to step (1), establish AGV scheduling system emulations
Model, the position of each device and AGV operation rule during simulated production.
(3) simulation model for establishing any production task, operating procedure (2), obtain completing to be somebody's turn to do under different AGV quantity
Working time needed for production task.According to the data of acquisition, the matching for obtaining production task, AGV quantity and working time is closed
System.Rerun if necessary repeatedly, obtain the statistical law between three.
(4) rule obtained according to step (3), task and AGV quantity are matched.
The foregoing multi-track based on multi-Agent Simulation, interactive AGV Production Scheduling Systems AGV quantity and task
Matching process, it is characterised in that AGV scheduling system simulation models measure according to the facility layout to AGV Production Scheduling Systems
Obtain specifying information foundation.
The foregoing multi-track based on multi-Agent Simulation, interactive AGV Production Scheduling Systems AGV quantity and task
Matching process, it is characterised in that the whole service process for being dispatched system to AGV using multiagent emulation mode is simulated.
The foregoing multi-track based on multi-Agent Simulation, interactive AGV Production Scheduling Systems AGV quantity and task
Matching process, it is characterised in that multi-Agent thought is given in the modeling to AGV, each will regard the discrete list of independent decision-making as by AGV
Member, each AGV makes action decision according to the rule of ac-tion of oneself during system operation, so as to always be system
Find out at least one feasible solution.
The foregoing multi-track based on multi-Agent Simulation, interactive AGV Production Scheduling Systems AGV quantity and task
Matching process, it is characterised in that the whole process run by simulation system, when obtaining task, robot quantity and work
Between between correlation.
The principle of the present invention is specifically described as follows：
First, the Part I of technical scheme：The fixing device of system mainly includes an a loading stage, relieving platform, more
Individual workbench, multiple AGV Accreditation Waiting Areas and the electromagnetic path for connecting these fixing devices.Other system also includes multiple removable
Dynamic AGV.Measuring the data for needing to obtain to system includes following several classes：
First, the electromagnetic path length of the fixing device such as loading stage, relieving platform, workbench, AGV Accreditation Waiting Areas between any two.
Second, AGV are in loading stage, relieving platform, the time that workbench is loaded, unloaded operation needs and each workbench
Process time.
3rd, the AGV speed of service and run into the reaction time evaded during barrier.
2nd, the Part II of technical scheme：According to the data obtained last point, using multi-Agent Simulation method pair more
AGV Production Scheduling Systems are modeled, and the running of system is simulated.The process of modeling is divided into the following steps：
First, according to the relative position of the fixing devices such as loading stage, relieving platform, workbench, AGV Accreditation Waiting Areas, electromagnetic path,
The simulated environment of workplace is generated in systems.
Second, a number of AGV is generated, and operation rule is set for AGV.
For any idle AGV, a number of workpiece is transported to fixing device from fixing device A when being connected to instruction
During B, the rule of ac-tion taken is as follows：
<1>Route calculation.AGV calculate self-position arrive fixing device A minimal path, and fixing device A to fixation
Device B minimal path.
<2>Mobile, loading and unloading.AGV is according to step<1>Result of calculation, fixation is moved to by self-position first
Device A, is then loaded operation；After the completion of loading, then fixing device B is moved to by fixing device A, then carries out unloading work
Industry.
<3>Evade collision.AGV is possible to path to extending 2 meters of places forward along track in moving process, in real time and accounted for
Detected with situation.As track is occupied, then stops mobile and moved forward after waiting the 3-5 seconds.To prevent two
Individual above AGV mutual wait is absorbed in endless loop, a random number of the stand-by period between the 3-5 seconds.
For any idle AGV, when being not connected to work order and not in Accreditation Waiting Area, the rule of ac-tion taken is such as
Under：
<1>Route calculation.AGV calculates self-position to the minimal path of all available Accreditation Waiting Areas.
<2>It is moved to Accreditation Waiting Area.AGV is according to step<1>The result of calculation calculated, it is moved to closest Accreditation Waiting Area
Waited.
3rd, establish the Mechanism of Task Allocation of system.System task is triggered by two kinds of devices, and one is loading stage, one
It is workbench.When loading stage or any one workbench are not space-time, that is, trigger Mechanism of Task Allocation.
The task trigger mechanism of loading stage is as follows：
<1>When the state of loading stage is not space-time, loading stage matches according to workpiece species to workbench first, then
Searched in the workbench of matching whether available free workbench；If available free workbench, enter selection to AGV and
Task assignment program.If without the workbench of free time, processing operation is completed etc. workbench to be matched.
<2>AGV selection and task assignment.Each AGV calculated currently without operation loads workpiece simultaneously to loading stage
It is transported to the shortest path of each workbench and corresponding activity duration.It is most short that job task is assigned to the corresponding activity duration
AGV, and to the AGV send instruction.
The task trigger mechanism of workbench is as follows：
<1>When workbench state is not sky, and has completed to process operation, selection and task assignment program into AGV.
<2>AGV selection and task assignment.Each AGV calculated currently without job task is moved to relevant work
Platform loads workpiece, and workpiece is transported into the shortest path of relieving platform and corresponding activity duration.Job task is assigned to phase
The AGV that the activity duration is most short is answered, and instruction is sent to the AGV.
3rd, the Part III of technical scheme:Programing work to above-mentioned model is realized using simulation software Net logo.So
Above-mentioned model is run repeatedly under different production tasks and AGV quantity afterwards, is obtained production task, AGV quantity and is completed production
The correlation of required by task time.If the piece count of required processing is N, AGV quantity is n, is completed needed for production task
Average time is T (N, n), and by running repeatedly, the data that above-mentioned model obtains are tabulated below.
The production task of table 1, AGV quantity and production time relation table
4th, the Part IV of technical scheme：According to the production task obtained by table 1, AGV quantity and total production time it
Between correlation, production task and AGV quantity are matched.Can be respectively to production task by the matching between three
Arrange, make corresponding decision in terms of AGV quantity demand and production time arrangement three, it is specific as follows：
First, when AGV quantity is n, and the piece count of required processing is N, the production task is completed by tabling look-up to obtain
The required time is T (N, n).Chronomere is scaled hour (similarly hereinafter).Then according to the hourage to work daily, you can
To the number of days completed needed for the production task.Worked 8 hours as daily, then required working day numerical digit T (N, n)/8.
Second, it is available by tabling look-up when AGV quantity is n, and the time restriction for being available for completing production task is T (N, n)
It is at best able to the number pieces N of processing.
3rd, it is available by tabling look-up when the workpiece number of required processing is N when under regular hour restricted T (N, n)
AGV required number n.
The beneficial effect that the present invention is reached：
The application according to possessed by multi-track, interactive AGV Production Scheduling Systems complexity, discreteness and decision-making i.e.
The features such as when property, propose to carry out analogue simulation to multi-track interactive mode AGV scheduling systems using multi-Agent Simulation theory, pass through
In specific systematic parameter Imitating system running state, task, AGV quantity and total working under particular system state are obtained
The correlation between variable is waited between room, so as to realize the method that task and AGV quantity are carried out to Proper Match.The party
Method can predefine the AGV quantity needed under certain task, can also be determined under certain AGV quantity
The maximum functional task undertaken, while can also be under certain AGV quantity and task, when predefining the work needed
Between.By scene Practical Project implement, show that this method is reliable and stable, be easy to implement, the design of AGV Production Scheduling Systems and
Positive effect in terms of implementation.
Embodiment
The principle of the present invention is specifically described as follows：
(1) Part I of technical scheme：The fixing device of system mainly includes an a loading stage, relieving platform, more
Individual workbench, multiple AGV Accreditation Waiting Areas and the electromagnetic path for connecting these fixing devices.Other system also includes multiple removable
Dynamic AGV.Measuring the data for needing to obtain to system includes following several classes：
First, the electromagnetic path length of the fixing device such as loading stage, relieving platform, workbench, AGV Accreditation Waiting Areas between any two.
Second, AGV are in loading stage, relieving platform, the time that workbench is loaded, unloaded operation needs and each workbench
Process time.
3rd, the AGV speed of service and run into the reaction time evaded during barrier.
(2) Part II of technical scheme：According to the data obtained last point, using multi-Agent Simulation method pair more
AGV Production Scheduling Systems are modeled, and the running of system is simulated.The process of modeling is divided into the following steps：
First, according to the relative position of the fixing devices such as loading stage, relieving platform, workbench, AGV Accreditation Waiting Areas, electromagnetic path,
The simulated environment of workplace is generated in systems.
Second, a number of AGV is generated, and operation rule is set for AGV.
For any idle AGV, a number of workpiece is transported to fixing device from fixing device A when being connected to instruction
During B, the rule of ac-tion taken is as follows：
<1>Route calculation.AGV calculate self-position arrive fixing device A minimal path, and fixing device A to fixation
Device B minimal path.
<2>Mobile, loading and unloading.AGV is according to step<1>Result of calculation, fixation is moved to by self-position first
Device A, is then loaded operation；After the completion of loading, then fixing device B is moved to by fixing device A, then carries out unloading work
Industry.
<3>Evade collision.AGV is possible to path to extending 2 meters of places forward along track in moving process, in real time and accounted for
Detected with situation.As track is occupied, then stops mobile and moved forward after waiting the 3-5 seconds.To prevent two
Individual above AGV mutual wait is absorbed in endless loop, a random number of the stand-by period between the 3-5 seconds.
For any idle AGV, when being not connected to work order and not in Accreditation Waiting Area, the rule of ac-tion taken is such as
Under：
<1>Route calculation.AGV calculates self-position to the minimal path of all available Accreditation Waiting Areas.
<2>It is moved to Accreditation Waiting Area.AGV is according to step<1>The result of calculation calculated, it is moved to closest Accreditation Waiting Area
Waited.
In the present embodiment, measurement centre of Electric Power Research Institute of Jiangsu Province measuring asset automatic checkout system is selected as real
Apply object.Measurement centre of national grid Jiangsu Province possesses country's largest automatic calibration line, and single-phase electric energy meter is determined in annual test
8000000, three-dimensional electric energy meter 800,000.Verification process is as follows：Storehouse is automated with examining and determine area's totally 6 connection positions of plugging into area.
Electric energy meter to be examined and determine is transported to connection position by automation storehouse, is then transported to electric energy meter from calibrating area's connection by AGV
Stage body is examined and determine, mechanical arm is completed after taking table, positioning, pocket watch, verification table to complete verification task, and electric energy meter is conveyed into tieback by AGV
Place is refuted, negative one building automation Sealed wire is delivered to and is sorted.The a plurality of electromagnetic path that AGV running route is fixed by ground is carried out
Guiding.The verification system is that typical multi-track interactive mode AGV dispatches system.
This example implementation steps are as follows：
(1) among this example, loading stage and relieving platform are the area that plugs into, and workbench is 4 verification platform for electric energy meter, in addition
System also has 4 AGV Accreditation Waiting Areas, and an electromagnetic path system that these fixing devices are connected together.Electromagnetism rail
2 main orbits of road system and 3 point of rail roads that main orbit connects together.Wherein main orbit is individual event track, and point of rail road is double
To track.The electromagnetic path length obtained after being measured to above-mentioned each fixing device between any two is shown in Table 2.
Electromagnetic path long measure between the fixing device of table 2：Rice
Times of the AGV required for connection is loaded and unloaded is 3 seconds every time, is loaded and unloads in verification table
The required time is 9 seconds every time, and the calibrating time of each verification table is 180 seconds.AGV movement velocity is 3m/s, runs into barrier
The time of parking waiting is an equally distributed random number between 3 to 5 seconds when hindering thing.
(2) according to the relative position of the fixing devices such as connection, verification table, AGV Accreditation Waiting Areas, electron orbit, in systems
Generate the simulated environment of workplace.12 AGV are generated, and it is as follows for AGV settings operation rule：
For any idle AGV, a number of workpiece is transported to fixing device from fixing device A when being connected to instruction
During B, the rule of ac-tion taken is as follows：
<1>Route calculation.AGV calculate self-position arrive fixing device A minimal path, and fixing device A to fixation
Device B minimal path.
<2>Mobile, loading and unloading.AGV is according to rule<1>Result of calculation, fixation is moved to by self-position first
Device A, is then loaded operation；After the completion of loading, then fixing device B is moved to by fixing device A, then carries out unloading work
Industry.
<3>Evade collision.AGV is possible to path to extending 2 meters of places forward along track in moving process, in real time and accounted for
Detected with situation.As track is occupied, then stops mobile and moved forward after waiting the 3-5 seconds.To prevent two
Individual above AGV mutual wait is absorbed in endless loop, a random number of the stand-by period between the 3-5 seconds.
For any idle AGV, when being not connected to work order and not in Accreditation Waiting Area, the rule of ac-tion taken is such as
Under：
<1>Route calculation.AGV calculates self-position to the minimal path of all available Accreditation Waiting Areas.
<2>It is moved to Accreditation Waiting Area.AGV is according to rule<1>The result of calculation calculated, it is moved to closest Accreditation Waiting Area
Waited.
Establish the Mechanism of Task Allocation of system.System task is triggered by two kinds of devices, and one is plug into area and automation storehouse
The connection position in room, one is verification table.It is not space-time when plugging into area with the connection position of automation storehouse or any one verification table,
Trigger Mechanism of Task Allocation.
The task trigger mechanism for connection position of the area with automating storehouse of plugging into is as follows：
<1>When the state of connection position of the area that plugs into automating storehouse is not space-time, the area that plugs into is with automating connecing for storehouse
Position is refuted first to match verification table according to workpiece species, then searched in the verification table of matching whether available free calibrating
Platform；If available free verification table, enter the selection to AGV and task assignment program.If without free time verification table,
Processing operation is completed etc. verification table to be matched.
<2>AGV selection and task assignment.Calculate currently without operation each AGV to plug into area with automate storehouse
The connection position in room loads workpiece and is transported to the shortest path of each verification table and corresponding activity duration.Job task is referred to
Most short AGV of corresponding activity duration is tasked, and instruction is sent to the AGV.
The task trigger mechanism of verification table is as follows：
<1>When verification table state is not sky, and has completed to process operation, selection and task assignment program into AGV.
<2>AGV selection and task assignment.Each AGV calculated currently without job task is moved to corresponding calibrating
Platform loads workpiece, and workpiece is transported into the shortest path for the connection for automating Sealed wire and corresponding activity duration.It will make
The industry task assignment AGV most short to the corresponding activity duration, and send instruction to the AGV.
(3) programing work to above-mentioned model is realized using simulation software Net logo.Then examined in different electric energy meters
Determine to run above-mentioned model repeatedly under task and AGV quantity, the time required to obtaining verification task, AGV quantity and completing verification task
Correlation it is as shown in table 3.
The production task of table 3, AGV quantity and production time relation table
(4) according to the verification task obtained by table 3, AGV quantity and the correlation between total production time, to calibrating
Task and AGV quantity are matched.
By the above method, the 3 matching work to electric energy meter Detection task and AGV quantity is had been completed so far.The
Verification task is 600,000, and mandatory period is one month, and according to monthly 4 weeks, 5 days dutys, average to need daily weekly
The task of calibrating is 30,000.Can be obtained by look-up table 3, it is necessary to AGV quantity be minimum 12.Second of verification task is 20
Ten thousand (every workdays average 10,000), it is 8 that can use AGV quantity, understood by look-up table 3, it is necessary to working time be 11
Individual working day (10,000 electric energy meters, 8 AGV were carried, it is necessary to 0.55 working day).Third time verification task is 500,000, can be used
AGV quantity is 12, and the time requirement of verification task is 15 days, and look-up table 3 is understood, feelings of 500,000 electric energy meters in 12 AGV
Under condition, the working time needs 17 days (often examining and determine 25000 electric energy meters needs 0.85 day), therefore verification task is modified,
400,000 are reduced to, the now required working time is about 14 days.
Above-described embodiment does not limit the present invention in any form, and all forms for taking equivalent substitution or equivalent transformation are obtained
Technical scheme, be within the scope of the present invention.
Claims (10)
1. the matching process of AGV quantity and task in a kind of AGV Production Scheduling Systems, it is characterised in that including step such as
Under：
（1）The facility layout of AGV Production Scheduling Systems is measured, obtains the tool of each device inside AGV Production Scheduling Systems
Body information；
（2）It is theoretical using multi-Agent Simulation, according to step（1）Measure the facility layout data obtained and the AGV of acquisition productions are adjusted
The specifying information of each device of internal system is spent, establishes AGV Production Scheduling System simulation models, each device during simulated production
Position and AGV operation rule；
（3）To any task, operating procedure（2）The simulation model established, obtain completing the work under different AGV quantity
The working time of required by task；Operating time data according to needed for completing the task under the different AGV quantity of acquisition, is obtained
To the matching relationship of task, AGV quantity and working time；
(4) according to step（3）Task, AGV quantity and the matching relationship of working time obtained, by task and
AGV quantity is matched.
2. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, AGV Production Scheduling Systems simulation model is according to the facility layout to AGV Production Scheduling Systems measures and obtains
The specifying information of each device is established inside AGV Production Scheduling Systems.
3. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, the whole service process for being dispatched system to AGV using the theoretical method of multi-Agent Simulation is simulated.
4. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, each AGV is regarded as to the discrete unit of independent decision-making, each AGV is according to the operation of oneself during system operation
Rule makes action decision, and system finds out at least one feasible solution.
5. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, step（1）In, measuring the specifying information of acquisition includes：
Loading stage, relieving platform, workbench, the fixing device electromagnetic path length between any two of AGV Accreditation Waiting Areas；
AGV is in the processing of loading stage, relieving platform, the time that workbench is loaded, unloaded operation needs and each workbench
Between；
The AGV speed of service and run into the reaction time evaded during barrier.
6. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, AGV operation rule includes：
For any idle AGV, when being connected to instruction a number of workpiece being transported into fixing device B from fixing device A,
The rule of ac-tion taken is as follows：
<1>Route calculation：AGV calculates self-position to fixing device A minimal path, and fixing device A to fixing device B
Minimal path；
<2>Mobile, loading and unloading：AGV is according to rule<1>Result of calculation, fixing device is moved to by self-position first
A, then it is loaded operation；After the completion of loading, then fixing device B is moved to by fixing device A, then carries out unloading operation；
<3>Evade collision：AGV is possible to the occupancy feelings of path to extending 2 meters of places forward along track in real time in moving process
Condition is detected；If track is occupied, stops movement and moved forward after waiting the 3-5 seconds.
7. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, AGV operation rule includes：
For any idle AGV, when being not connected to work order and not in Accreditation Waiting Area, the rule of ac-tion taken is as follows：
<1>Route calculation：AGV calculates self-position to the minimal path of all available Accreditation Waiting Areas；
<2>It is moved to Accreditation Waiting Area：AGV is according to rule<1>The result of calculation calculated, it is moved to closest Accreditation Waiting Area and carries out
Wait.
8. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 1, its feature
It is, when AGV Production Scheduling Systems simulation model is run, different task trigger mechanisms is used according to the difference of device, including
The task trigger mechanism of loading stage and the task trigger mechanism of workbench.
9. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 8, its feature
It is, the task trigger mechanism of loading stage is as follows：
<1>When the state of loading stage is not space-time, loading stage matches according to workpiece species to workbench first, then
Searched in the workbench matched somebody with somebody whether available free workbench；If available free workbench, enter the selection to AGV and task
Assign program；If without the workbench of free time, processing operation is completed etc. workbench to be matched；
<2>AGV selection and task assignment program：Each AGV calculated currently without operation loads workpiece simultaneously to loading stage
It is transported to the shortest path of each workbench and corresponding activity duration；It is most short that job task is assigned to the corresponding activity duration
AGV, and to the AGV send instruction.
10. the matching process of AGV quantity and task in AGV Production Scheduling Systems according to claim 8, its feature
It is, the task trigger mechanism of workbench is as follows：
<1>When workbench state is not sky, and has completed to process operation, selection and task assignment program into AGV；
<2>AGV selection and task assignment program：Each AGV calculated currently without job task is moved to relevant work
Platform loads workpiece, and workpiece is transported into the shortest path of relieving platform and corresponding activity duration；Job task is assigned to phase
The AGV that the activity duration is most short is answered, and instruction is sent to the AGV.
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